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City Orlando / New York / Berlin / Cambridge / Lausanne / / Company Autonomous Systems / MIT Press / PanStanford Publishing / 6th Distributed Autonomous Robotic Systems / Emerging Technologies / Oxford University Press / IEEE Press / Collective Aerial Systems / / Country Switzerland / Singapore / / / Facility Laboratory of Intelligent Systems / / IndustryTerm aerial swarm search strategy / robotic network / indoor search / robot sensor networks / swarm algorithm / online creation / search strategy / longer chain / pre-deployed sensor network / large network / offboard processing / robotic sensor networks / on-board processing / external tracking systems / swarm navigation algorithm / off-board processing / computing / beacon network / mean travel distance / sensor network / / Organization MIT / Ecole Polytechnique F´ed´erale de Lausanne / Swarm Intelligence / International Society for Optical Engineering / Laboratory of Intelligent Systems / Oxford University / / Person Robots Timothy Stirling / Jean-Christophe Zufferey / Julien Brahier / C. Pinciroli / V / Q. Li / James Roberts / Gervaix Brahier / Maja Varga / / Position low-level controller / Rt / PD controller / waypoint controller / Velocity Controller / PD yaw controller / Yaw Controller / velocity controller and the attitude stability controller / attitude stability controller / navigation controller / PID controller / threshold radius Rt / Obstacle Avoidance Controller / controller / stability controller / / Product M-16 / / PublishedMedium The International Journal / / Technology 3-D / GPS / corresponding swarm navigation algorithm / swarm algorithm / laser / Mobile computing / simulation / / URL http / 
Indoor Navigation with a Swarm of Flying Robots Timothy Stirling and James Roberts and Jean-Christophe Zufferey and Dario Floreano Abstract— Swarms of flying robots are promising in many applications due to rapid terra